KR102603785B1 - robot that runs on walls using magnetic force - Google Patents

Abstract

The present invention includes a body consisting of at least one plate, and a control unit is installed on at least a portion of the plate; and a plurality of wheel modules disposed at each corner of the body and each individually steered and driven and controlled, each wheel module comprising a traveling wheel, a first actuator for rotating the traveling wheel, and a first actuator for steering the traveling wheel. A wall traveling robot including a plurality of wheel modules, including 2 actuators, wherein the traveling wheels include three wheels spaced apart from each other and two disk-shaped magnets each inserted between adjacent wheels among the three wheels. It's about.

Description

A robot that runs on walls using magnetic force}

The present invention relates to a wall-walking robot, and more specifically, to a wall-walking robot that can move freely in all directions and in various ways through a plurality of wheel modules, each of which is individually steered and driven.

Fixing and moving robots on vertical or horizontal surfaces of metal walls, steel plates and other metal materials can be an important task in a variety of industries. These tasks can be essential to leveraging automation and robotics technologies in construction companies, factories, warehouses and other environments. Existing robots and mobile devices employ a variety of methods for anchoring to surfaces, but these methods still have room for improvement.

Some of the existing fixation methods are complex and expensive, and can be a waste of time and effort. Additionally, some methods may damage the surface or may not move accurately to the desired location. Furthermore, some work environments may pose safety concerns for robots that use electrical or electronic devices.

Therefore, the present invention seeks to solve the above-mentioned problems by providing a robot system that is safely fixed and moves on surfaces such as steel plates and metal walls using magnets and magnetic force.

The present invention is based on a technology that has high adhesion to the surface, can be easily separated, and can accurately maintain the fixed position. Additionally, this invention was designed with environmental safety and worker safety in mind, and can ensure safe movement of the robot.

By seeking to develop new ways to solve these technical problems, this invention represents an important advance toward efficiently performing robot-based automated tasks and improving performance and accuracy in advanced manufacturing and construction processes.

Korean Patent Publication No. 10-2010-0010578

One of the various problems of the present invention is to solve the problems of the prior art described above, and to dramatically increase the degree of freedom of driving by allowing a plurality of wheel modules arranged at each corner of the body to be individually driven and steered. The goal is to provide a wall-running robot.

The problem to be solved by the present invention is not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above-described problem, the present invention includes: a body made of at least one plate and a control unit installed on at least a portion of the plate; and a plurality of wheel modules disposed at each corner of the body and individually controlled to steer and drive, each wheel module comprising a traveling wheel, a first actuator for driving the traveling wheel, and a first actuator for steering the traveling wheel. A plurality of wheel modules including two actuators, wherein the traveling wheels include three wheels spaced apart from each other and two disk-shaped magnets each inserted between adjacent wheels among the three wheels. When the wall-running robot is attached to the work surface, the magnet provides the wall-running robot spaced apart from the work surface with a gap G of 0.4 mm to 0.6 mm.

According to one embodiment, when the wall driving robot is attached to the work surface, the magnet may be spaced apart from the work surface with a gap G of 0.5 mm.

According to one embodiment, the first actuator is directly attached to the outer wheel of the three wheels, so that the rotational driving force of the first actuator can be directly transmitted to the traveling wheel.

According to one embodiment, each wheel module includes a first gear between the traveling wheel and the body, and the second actuator of each wheel module includes a second gear, and the second actuator includes a second gear. When driven, rotational driving force is transmitted to the first gear through the second gear, so that the traveling wheel can rotate around the steering rotation axis (Y) perpendicular to the body.

According to one embodiment, the magnetic force of the magnet may be determined so that even one wheel module can support the entire weight of the wall driving robot.

According to one embodiment, it may further include a work unit installed on the upper or lower surface of the body and including a device configured to perform a predetermined task.

According to one embodiment, the predetermined task may be a task of removing paint or contaminants from the outer wall of a ship.

According to one embodiment, the body may be made of a plurality of sub-bodies, and a connection part connected by a hinge coupling may be provided between two adjacent sub-bodies among the plurality of sub-bodies.

According to one embodiment, when the interior angle formed by both sides of two adjacent sub-bodies facing each other at the connection portion is referred to as an angle α, the angle α may be 0° or more and 45° or less.

According to one embodiment, the body may be composed of four square sub-bodies of the same size.

According to one embodiment, the wall traveling robot includes a detection sensor installed on each side of the body and configured to detect the height and slope of the ground in front of the wall traveling robot. and a linear actuator installed at each connection part and configured to control the angle (α), wherein the control unit moves forward in the direction of travel of the wall robot based on an electrical signal transmitted from the detection sensor. It is configured to model the terrain, and the control unit uses the modeling to determine the angle (α) suitable for the height and slope of the work surface on the front side of the approaching wall-walking robot, and as the wall-walking robot moves. It can be configured to dynamically control the linear actuator according to the determined angle (α).

According to one embodiment, the plurality of wheel modules may be driven by a swerve drive method.

The wall driving robot according to an embodiment of the present invention is capable of individually driving and steering a plurality of wheel modules, so that it can perform general driving such as forward, backward, and direction changes as well as special driving such as parallel movement and rotation in place. There is a possible effect.

The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

The features and benefits of preferred embodiments of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings.
Figure 1 is a front view of a wall-running robot according to an embodiment of the present invention.
Figure 2 is an enlarged perspective view of a portion of one wheel module among several wheel modules of a wall traveling robot according to an embodiment of the present invention.
Figure 3 briefly shows the body being folded upward at a predetermined angle when the wall-walking robot according to a modified example of the present invention travels on the curved outer wall of a ship.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The detailed description below is provided to provide a comprehensive understanding of the methods, devices and/or systems described herein. However, this is only an example and the present invention is not limited thereto.

In describing the embodiments of the present invention, if it is determined that a detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definition should be made based on the contents throughout this specification. The terminology used in the detailed description is merely for describing embodiments of the present invention and should in no way be limiting. Unless explicitly stated otherwise, singular forms include plural meanings. In this description, expressions such as “comprising” or “comprising” are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, and one or more than those described. It should not be construed to exclude the existence or possibility of any other characteristic, number, step, operation, element, or part or combination thereof.

For example, expressions such as “same” and “is the same” not only indicate a strictly identical state, but also indicate a state in which there is a difference in tolerance or the degree to which the same function can be obtained.

For example, expressions that express relative or absolute arrangement such as “in a certain direction,” “along a certain direction,” “side by side,” “perpendicularly,” “at the center,” “concentric,” or “coaxial,” Not only does it strictly represent the arrangement, but it also represents the state of relative displacement with a tolerance, or an angle or distance that achieves the same function.

The use of terms such as 'first, second, and third' in front of the components mentioned below is only to avoid confusion about the components to which they are referred, as well as the order, importance, or master-slave relationship between the components, etc. is irrelevant. For example, an invention that includes only the second component without the first component can also be implemented.

As used herein, singular expressions include plural expressions unless the context clearly dictates otherwise.

Now, a wall driving robot according to an embodiment of the present invention will be described in detail with reference to the attached drawings. In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. Additionally, in the description of the following embodiments, overlapping descriptions of identical or corresponding components may be omitted. However, omission of descriptions of components is not intended to exclude such components from being included in any embodiment.

In addition, the examples below do not limit the scope of the present invention, but are merely illustrative of the elements presented in the claims of the present invention, and are included in the technical idea throughout the specification of the present invention and constitute the scope of the claims. Embodiments that include elements that can be replaced as equivalents may be included in the scope of the present invention.

Figure 1 shows a front view of a wall-running robot according to an embodiment of the present invention. Referring to FIG. 1, the wall traveling robot according to an embodiment of the present invention is made of at least one plate 11, and a body (3) on which a control unit 3 is installed on at least a portion of the plate 11. One); A plurality of wheel modules (2) disposed at each corner of the body (1) and each individually steered and driven, each wheel module (2) having a driving wheel (21) and a driving wheel (21) for driving the driving wheel (21). It includes a first actuator 22 and a second actuator 23 for steering the traveling wheel 21, and the traveling wheel 21 includes three wheels 211 and an adjacent wheel among the three wheels 211 ( 211) and includes a plurality of wheel modules 2, each of which includes two disc-shaped magnets 212 inserted between them.

(body)

The body 1 has an approximately plate-shaped shape including at least one plate 11. A wheel module 2 is installed on the lower surface of each corner of the plate 11, and a control unit 3 for controlling the wheel module 2 is installed on at least a part of the plate 11. . If the body 1 is composed of several plates 11, the control unit 3 may be installed on at least a portion of the uppermost plate 11, and the lowermost plate ( A wheel module (2) may be installed on the lower side of each corner of 11).

For example, Figure 1 shows a body 1 made of one plate 11, and Figure 2 shows a body 1 made of two plates 11. When it includes several plates 11, such as the body 1 of FIG. 2, the area of each plate 11 may be different. Also, as shown in FIG. 2, the plate 11 disposed at the bottom is a circular portion formed to at least partially cover the first gear 24 at each corner while extending outward from the other plates 11. It may further include.

The control unit 3 is configured to individually control each wheel module 2, and may preferably include a main control circuit board, a memory, an interface, a serial communication board, a relay board, etc.

The plate 11 may be made of various materials, but considering that work must be performed on the outer wall of a ship, it is preferably made of stainless steel or stainless steel alloy steel, which is resistant to corrosion and has high strength. In addition, the thickness of the plate 11 (referring to the total thickness of all of the plates 11 when multiple plates 11 are stacked) is preferably 28 to 32 mm. If the thickness of the plate 11 exceeds 30 mm, the weight of the wall walking robot itself becomes too large, which reduces mobility and requires an excessively strong magnet 212. Conversely, if the thickness of the plate 11 is less than 28 mm, it may be easily bent. In addition, the rigidity may be lowered, making it difficult to support the weight of work units, etc.

Additionally, at least a portion of the upper and/or lower surface of the body 1 may be provided with a docking portion capable of combining work units. This docking portion is preferably disposed in the central area of the plate 11 of the body 1 so that the work unit has the same workability in all directions, but is not limited to this and is located at either corner of the plate 11. It is okay to place it biased towards one side.

(wheel module)

The wall walking robot according to an embodiment of the present invention includes a plurality of wheel modules 2 disposed at each corner of the body 1 and each individually steered and driven. For example, if the plate 11 of the body 1 is a square plate, four wheel modules 2 are provided, and the four wheel modules 2 are installed at each corner of the plate of the body 1. .

Figure 2 is an enlarged perspective view of a portion of one wheel module (2) among a plurality of wheel modules (2). As shown in FIG. 2, each wheel module 2 includes a traveling wheel 21, a first actuator 22 for driving the traveling wheel 21, and a first actuator 22 for steering the traveling wheel 21. Contains 2 actuators (23).

The running wheel 21 is a part that is rotationally driven in direct contact with the work surface 4, for example, the outer wall of the ship, and is composed of a generally cylindrical shape with an outer periphery corresponding to both sides and the center surface of the circular shape, It is preferably configured to maximize the contact area with the surface 4.

As a non-limiting example, as shown in FIGS. 1 and 2, the traveling wheel 21 is between three spaced apart wheels 211 and an adjacent wheel 211 of the three wheels 211. It may include two disk-shaped magnets 212 that are respectively inserted into.

The magnet 212 included in the traveling wheel 21 may be a permanent magnet or an electromagnet that can generate magnetic force only when necessary. It is also possible to combine one of the two magnets 212 as a permanent magnet and the other as an electromagnet.

The total magnetic force of all magnets 212 included in the wall-walking robot is preferably determined to be approximately 50% or more greater than the level capable of supporting the entire weight of the wall-walking robot, and is determined to be approximately 70% or more greater. It may be more desirable to be However, for safer work, it is more desirable for the magnetic force of the magnet 212 to be determined to a level that can support the entire weight of the wall-walking robot with just one wheel module 2. If only one wheel module (2) can support the entire weight of the wall robot, malfunction may result in only the magnetic force of the magnet (212) of one wheel module (2) being maintained and the magnet (212) of the remaining wheel module (2) ), or when only one wheel module (2) is maintained on the work surface (4) and the remaining wheel modules (2) are separated from the work surface (4) due to a sudden external impact. , the wall-running robot can be maintained on the work surface (4), preventing the wall-running robot from being completely damaged due to an unexpected shock or fall.

Meanwhile, when the wall traveling robot moves on the work surface 4, the three wheels 211 of the travel wheels 21 are in contact with the work surface 4, but the two magnets 212 of the travel wheels 21 are in contact with the work surface 4. ) Each maintains a predetermined gap (G) with respect to the work surface (4). At this time, the gap G between the work surface 4 and the magnet 212 of the traveling wheel 21 may be 0.4 mm to 0.6 mm. More preferably, the gap G between the work surface 4 and the magnet 212 of the traveling wheel 21 may be 0.5 mm. If the gap G is smaller than 0.4 mm, the magnet 212 may contact irregularities formed by paint or contaminants on the work surface 4, increasing the risk of damage to the magnet 212 and/or the painted work surface. On the other hand, if the gap G is larger than 0.6 mm, it may be difficult to maintain a certain level of magnetic force that can keep the wall traveling robot on the work surface 4.

The first actuator 22 is coupled to the side of the traveling wheel 21 and rotates the traveling wheel 21. In the present invention, the rotational driving force of the first actuator 22 is configured to be directly transmitted to the traveling wheel 21. For example, the driving rotation shaft of the first actuator 22 is adjacent to the side of the traveling wheel 21. Positioned and coupled, the traveling wheel 21 is rotated by the rotation of the driving rotation shaft, and the rotation of the traveling wheel 21 causes the wall traveling robot to travel on the work surface 4.

For example, like the wheel module 2 shown in FIGS. 1 and 2, the traveling wheel 21 is positioned between three spaced apart wheels 211 and an adjacent wheel 211 among the three wheels 211. When composed of two disk-shaped magnets 212 each inserted into Can be transmitted directly to the traveling wheel (21). Here, the outer wheel 211 can be defined as a wheel 211 in which only one of the two circular sides of the wheel 211 faces the magnet 212.

This first actuator 22 is only related to the rolling of the traveling wheel 21 included in the wheel module 2 including the first actuator 22, and the traveling wheel 21 of the remaining wheel module 2 does not affect

The first actuator 22 is a servo motor, DC motor, AC motor, and BLDC motor. It can be any one of It may be possible, and among these, it is preferable to use a BLDC motor with a reducer and encoder so that it does not shake or stop even in situations where it must drive on a wall.

The second actuator 23 is coupled to the traveling wheels 21 and controls the moving direction of each traveling wheel 21. Specifically, the second actuator 23 is configured to adjust the direction of each wheel module 2 by rotating the traveling wheel 21 around the steering rotation axis.

In the present invention, there is no particular limitation on the arrangement of the second actuator 23 with respect to the traveling wheel 21. As a non-limiting example, as shown in FIG. 2, the wheel module 2 includes a first gear 24 between the traveling wheel 21 and the body 1, and a second actuator 23. ) includes a second gear wheel 25, and when the second actuator 23 is driven, the rotational driving force is transmitted to the first gear wheel 24 through the second gear wheel 25, and the driving wheel 21 ) The entire body can be configured to rotate around the steering rotation axis (Y) perpendicular to the body (1).

As another non-limiting example, the second actuator 23 is installed directly above the traveling wheel 21 and on the upper surface of the body 1, so that the rotating rod penetrates the through hole formed at the corner of the body 1. Thus, it may be configured to be coupled with the traveling wheel 21.

This second actuator 23 is only related to the steering of the driving wheel 21 included in the wheel module 2 including the second actuator 23, and is related to the steering wheel 21 of the remaining wheel module 2. does not affect

The second actuator 23 may be one of a rotary motor, a servo motor, and a DC motor. Among these, it is preferable that the second actuator 23 be a servo motor in order to reduce weight and provide stable steering even when attached to a wall.

As described above, the traveling wheel 21, the first actuator 22, and the second actuator 23 are modularized to form one wheel module 2, and the traveling wheel 21 and the first actuator 22 And the traveling wheel 21 and the second actuator 23 are operatively coupled to drive the corresponding wheel module 2. However, the operation of the traveling wheel 21, the first actuator 22, and the second actuator 23 of any one wheel module 2 does not affect the other wheel modules 2 disposed at other corners of the body 1. does not give As a result, the plurality of wheel modules 2 can each be driven in a swerve drive manner through individual steering and drive control, enabling free movement of the wall-walking robot.

(work unit)

The work unit is a device equipped with a tool for performing a predetermined task on the work surface 4, and is equipped to be coupled to a docking portion provided on at least a portion of the upper and/or lower surface of the body 1. . Here, the predetermined work may be work that must be performed on the outer wall of the ship during ship construction or work necessary for maintenance of the outer wall of the ship, for example, work to remove paint or contaminants from the outer wall of the ship.

Since the shape, method, type of tool, etc. of the work unit may vary depending on the predetermined task, the present invention does not specifically limit the specific configuration of the work unit. As a non-limiting example, a work unit may consist of a work drive, a work arm, and a work tool.

The work drive part is a part coupled to the docking part of the body 1, and is preferably coupled so as to be rotationally driven. By rotating the work drive unit, the work unit can have various movements, allowing work in all directions based on the wall traveling robot. The rotation of the work drive can be determined to rotate in all directions, i.e. 360°. If the work unit is coupled to the lower surface of the body 1, it may be determined that it can only rotate within a certain angle range considering interference with the wheel module 2.

One end of the work arm is coupled to the work drive unit, and the other end is coupled to the work tool. One end of the work arm is coupled to the work drive unit so that the entire work arm can be rotated in a predetermined direction. The work arm is preferably made of multiple joints to enable bending and straightening movements.

A work tool is a device that is coupled to the other end of a work arm and performs a predetermined work. As a non-limiting example, there is no particular limitation on the tools installed on the work tool, and typical tools such as grinders, brushes, etc. can be installed to suit a predetermined task. The work tool is preferably configured to be detachable from the work arm.

The wall traveling robot according to an embodiment of the present invention uses a work unit attached to a work tool suitable for a predetermined task, and magnetically attaches itself to the work surface (4) where repair or maintenance work on the outer wall of the ship is required. After moving, you can perform predetermined tasks.

Meanwhile, the wall walking robot according to an embodiment of the present invention can be driven without a separate power supply from the outside by mounting a battery on the body (1), or can be driven by receiving power supplied by wire through a power line connected to the outside. It could be. At this time, the smaller the self-weight of the wall-walking robot, the lighter and faster the wall-walking robot becomes possible, and the lower the magnetic force that each wheel module (2) must have, so power is supplied by wire from the outside without installing a separate battery. It is more desirable to be configured to receive.

(variation example)

Next, a modified example of the wall driving robot according to the present invention will be introduced. The wall driving robot according to a modified example of the present invention has a body 1 composed of a plurality of sub-bodies 12, and a hinge coupling method is used between two adjacent sub-bodies 12 among the plurality of sub-bodies 12. A connecting portion 13 may be provided.

In the wall-running robot according to a modified example of the present invention, the body 1 may be composed of a plurality of sub-bodies 12. In other words, the body 1 may not be a single integrated component, but may be comprised of a plurality of sub-bodies 12 that are firmly and operatively connected to each other at the same time. The shape of each sub-body 12 is not particularly limited, but it is preferable that the shapes of each sub-body 12 are the same and their sizes are also the same. As a non-limiting example, four rectangular sub-bodies 12 of the same size are provided, and these four sub-bodies 12 may be connected to each other in an arrangement of 2 Х 2 .

Among the plurality of sub-bodies 12, two adjacent sub-bodies 12 may be provided with a connecting portion 13 connected by a hinge coupling method. For example, as shown in FIG. 3 , two adjacent sub-bodies 12 can be folded upward (in a direction away from the working surface 4) about the connecting portion 13. However, it is not limited to this, and unlike what is shown in FIG. 3, the connection portion 13 is located on the lower side of the body 1, that is, on the side facing the work surface 4, and is directed downward (toward the work surface 4). Of course, a configuration that folds in either direction is also possible.

At this time, when the internal angle formed by both sides of the two adjacent sub-bodies 12 facing each other at the connection portion 13 is referred to as an angle α, the angle α may be 0° or more and 30° or less. As a non-limiting example, preferably, the angle (α) may be 0° or more and 20° or less, and more preferably, the angle (α) may be 0° or more and 15° or less. As the angle α increases, the smooth movement ability of the wall robot in the curve of the work surface 4 increases. However, if the angle α is too large, the wall robot may overturn due to gravity, so the above limited to scope.

As shown in FIG. 3, the wall driving robot according to a modified example of the present invention has a detection sensor installed on each side of the body 1 and configured to detect the height and slope of the ground in front of the moving direction of the wall driving robot. (14); And it may further include a linear actuator 15 installed on each connection portion 13 and configured to control the angle α.

The detection sensor 14 is a sensor configured to detect the height and slope of the ground in front of the wall traveling robot. It is preferable that at least one detection sensor 14 is installed on each side of the body 1. In Figure 3, only the front and rear detection sensors 14 in the moving direction of the wall walking robot are briefly shown, and the remaining detection sensors 14 are omitted. In the present invention, there is no particular limitation on the type and method of the detection sensor 14, and any sensor method that can detect the height and slope of the ground in front of the moving direction can be freely applied. For example, the detection sensor 14 may be a laser distance sensor or an infrared distance sensor.

In FIG. 3, the sensing direction of the detection sensor 14 located in front of the wall traveling robot in the moving direction is indicated by a dotted arrow. As a non-limiting example, the angle of the detection sensor 14 with respect to the work surface 4, that is, the angle formed between the dotted line arrow in FIG. 3 and the work surface 4, can be variably adjusted depending on the speed of the wall driving robot. It can be configured as follows.

As a non-limiting example, the wall driving robot according to a modified example of the present invention may further include a vehicle speed sensor for detecting the direction of travel of the wall driving robot. Since the wall driving robot according to the present invention can move in all directions, front, back, left and right, it is preferable to have a plurality of vehicle speed sensors to detect progress in all directions, and at least one is provided on each side of the body 1. It is more preferable. This vehicle speed sensor is a sensor for measuring the driving speed of the vehicle. If the output value is a positive value, it can be determined that the vehicle is moving forward, and if the output value is a negative value, it can be determined that the vehicle is moving backwards. Therefore, the direction of travel of the wall driving robot can be easily determined based on the vehicle speed sensor with the largest positive value among the plurality of vehicle speed sensors.

This vehicle speed sensor is configured to detect the moving direction of the wall robot, convert it into an electrical signal, and transmit this signal to the control unit (3). The control unit 3 uses the electrical signal from the vehicle speed sensor to determine which direction to receive the signal from the detection sensor 14, thereby reducing unnecessary operation of the detection sensor 14. .

The linear actuator 15 is installed at each connection portion 13 and is configured to control the angle α between adjacent sub-bodies 12. To this end, one end and the other end of the linear actuator 15 are coupled to different sub-bodies 12. 3, when the linear actuator 15 operates and its length is shortened, the two adjacent sub-bodies 12 are attracted to each other, so that the angle α between the two adjacent sub-bodies 1 is It becomes bigger. Conversely, as the length of the linear actuator 15 increases, the two adjacent sub-bodies 1 are pushed away from the coupling portion, and the angle α between the two adjacent sub-bodies 12 decreases. In the present invention, there is no particular limitation on the type or method of the linear actuator 15.

Based on the electrical signal transmitted from the detection sensor 14, the control unit 3 adds the electrical signal transmitted from the vehicle speed sensor as necessary to model and update the terrain in front of the wall driving robot in real time. do. And the control unit 3 uses this modeling to determine the shape of the body 1 of the wall robot to suit the height and slope of the work surface 4 on which the wall robot is currently located, that is, the two adjacent sub-bodies 12. ) is determined, and based on this, the operation of the linear actuator 15 is dynamically controlled according to the movement of the wall driving robot.

For example, as shown in Figure 3, if there is an incline in front of the wall traveling robot, the detection sensor 14 first detects that there is an incline in front and transmits an electrical signal related to this to the work unit. The control unit models this slope and dynamically operates the linear actuator (15) in accordance with the speed of the wall robot and the inclination of the slope when the wheel module (2) on the front side of the wall robot's moving direction enters the beginning of the slope. .

Accordingly, the wall-running robot according to a modified example of the present invention detects the terrain and adjusts the shape (angle (α)) of the body (1) of the wall-running robot accordingly, so that even if there is a steep slope on the outer wall of the ship, the wall-running robot can You can drive smoothly and smoothly without putting a lot of strain on it.

The above description is merely an illustrative explanation of the technical idea of the present invention, and those skilled in the art will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

1: Body 11: Plate
12: sub-body 13: connection part
14: detection sensor 15: linear actuator
2: wheel module 21: driving wheel
211: wheel 212: magnet
22: first actuator 23: second actuator
24: 1st gear 25: 2nd gear
3: Control unit 4: Working surface

Claims (12)

As a wall-running robot,
A body made of at least one plate, with a control unit installed on at least a portion of the plate; and
A plurality of wheel modules disposed at each corner of the body and individually controlled to steer and drive, each wheel module comprising a traveling wheel, a first actuator for driving the traveling wheel, and a second actuator for steering the traveling wheel. A plurality of wheel modules including an actuator, wherein the traveling wheels include three wheels spaced apart from each other and two disk-shaped magnets each inserted between adjacent wheels among the three wheels,
When the wall driving robot is attached to the work surface, the magnet is spaced apart from the work surface with a gap G of 0.4 mm to 0.6 mm,
The body is composed of a plurality of sub-bodies,
A connection part connected by a hinge coupling method is provided between two adjacent sub-bodies among the plurality of sub-bodies,
When the internal angle formed by both sides of the two adjacent sub-bodies facing at the connection is called an angle (α), the angle (α) is 0° or more and 45° or less,
The wall driving robot is:
A detection sensor installed on each side of the body and configured to detect the height and slope of the ground in front of the wall traveling robot in the direction of travel; and
It further includes a linear actuator installed at each connection part and configured to control the angle (α),
The control unit is configured to model the terrain ahead of the wall traveling robot based on the electrical signal transmitted from the detection sensor,
The control unit uses the modeling to determine the angle (α) suitable for the height and inclination of the work surface on the front side of the approaching wall-walking robot, and adjusts it to the angle (α) determined as the wall-walking robot moves. A wall driving robot configured to dynamically control the linear actuator.
According to paragraph 1,
When the wall-running robot is attached to a work surface, the magnet is spaced apart from the work surface with a gap (G) of 0.5 mm.
According to claim 1 or 2,
A wall driving robot in which the first actuator is directly attached to the outer wheel of the three wheels so that the rotational driving force of the first actuator is directly transmitted to the traveling wheel.
According to claim 1 or 2,
Each wheel module includes a first gear between the traveling wheel and the body,
The second actuator of each wheel module includes a second cogwheel,
When the second actuator is driven, rotational driving force is transmitted to the first gear through the second gear, so that the traveling wheel can rotate around a steering rotation axis (Y) perpendicular to the body.
According to claim 1 or 2,
A wall driving robot in which the magnetic force of the magnet is determined so that the entire weight of the wall driving robot can be supported by a single wheel module.
According to claim 1 or 2,
A wall traveling robot further comprising a work unit installed on the upper or lower surface of the body and including a device configured to perform a predetermined task.
According to clause 6,
The predetermined task is a wall-running robot that removes paint or contaminants from the outer wall of a ship.
delete delete According to paragraph 1,
The body is a wall-running robot made up of four square sub-bodies of the same size.
delete According to claim 1 or 2,
A wall-running robot in which the plurality of wheel modules are driven by a swerve drive.

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